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Comparison of two non-linear model-based control strategies for autonomous vehicles
dc.contributor.author | Alcalá, Eugenio |
dc.contributor.author | Sellart, Laura |
dc.contributor.author | Puig Cayuela, Vicenç |
dc.contributor.author | Quevedo Casín, Joseba Jokin |
dc.contributor.author | Saludes Closa, Jordi |
dc.contributor.author | Vázquez, David |
dc.contributor.author | López, Antonio |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtiques |
dc.date.accessioned | 2016-09-06T09:49:33Z |
dc.date.available | 2016-09-06T09:49:33Z |
dc.date.issued | 2016 |
dc.identifier.citation | Alcalá, E., Sellart, L., Puig, V., Quevedo, J., Saludes, J., Vázquez, D., López, A. Comparison of two non-linear model-based control strategies for autonomous vehicles. A: Mediterranean Conference on Control and Automation. "2016 The 24th Mediterranean Conference on Control and Automation (MED)". Athens: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 846-851. |
dc.identifier.isbn | 978-1-4673-8345-5 |
dc.identifier.uri | http://hdl.handle.net/2117/89595 |
dc.description.abstract | This paper presents the comparison of two nonlinear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using this approach, the error dynamics model is developed. Both controllers receive as input the longitudinal, lateral and orientation errors generating as control outputs the steering angle and the velocity of the vehicle. The first control approach is based on a non-linear control law that is designed by means of the Lyapunov direct approach. The second approach is based on a sliding mode-control that defines a set of sliding surfaces over which the error trajectories will converge. The main advantage of the sliding-control technique is the robustness against non-linearities and parametric uncertainties in the model. However, the main drawback of first ordersliding mode is the chattering, so it has been implemented a high order sliding mode control. To test and compare the proposed control strategies, different path following scenarios are used in simulation. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Autonomous vehicles |
dc.title | Comparison of two non-linear model-based control strategies for autonomous vehicles |
dc.type | Conference report |
dc.subject.lemac | Vehicles autònoms |
dc.contributor.group | Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control |
dc.identifier.doi | 10.1109/MED.2016.7535921 |
dc.rights.access | Open Access |
local.identifier.drac | 18820734 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO//DPI2014-58104-R/ES/CONTROL BASADO EN LA SALUD Y LA RESILIENCIA DE INFRAESTRUCTURAS CRITICAS Y SISTEMAS COMPLEJOS/ |
local.citation.author | Alcalá, E.; Sellart, L.; Puig, V.; Quevedo, J.; Saludes, J.; Vázquez, D.; López, A. |
local.citation.contributor | Mediterranean Conference on Control and Automation |
local.citation.pubplace | Athens |
local.citation.publicationName | 2016 The 24th Mediterranean Conference on Control and Automation (MED) |
local.citation.startingPage | 846 |
local.citation.endingPage | 851 |